cuvslam: range-gated depth cloud output

[jeff-hykin]

Stacked on #3538 (dimSLAM wheel+IMU/ESKF), which is stacked on #3391.

• depth_cloud: Out[PointCloud2] — the depth sensor's own points, in its own frame
• depth_cloud_min_range / depth_cloud_max_range config, default 0 / 4 m
• pins dimSLAM b8022eb (branch jeff/feat/depth_clean_cloud), which does the deprojection + gate

Measured on the Alfred recording, D455 depth vs a point-lio lidar voxel map (5 cm voxels): ungated IoU 0.0086, 4 m gate 0.0197.

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
3793	2	3791	175

View the top 2 failed test(s) by shortest run time

dimos.robot.test_all_blueprints::test_blueprint_is_valid[alfred-cuvslam]

Stack Traces | 0.019s run time

blueprint_name = 'alfred-cuvslam'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'alfred-cuvslam'

dimos/robot/test_all_blueprints.py:106: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:82: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'alfred-cuvslam'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'alfred_cuvslam'
        module_path = 'dimos.robot.diy.alfred.blueprints.alfred_cuvslam'
        name       = 'alfred-cuvslam'
.../alfred/blueprints/alfred_cuvslam.py:37: in <module>
    from dimos.robot.diy.alfred.effector_high_level import AlfredHighLevel
        CuvslamOdometry = <class 'dimos.mapping.cuvslam.cuvslam.CuvslamOdometry'>
        MovementManager = <class 'dimos.navigation.movement_manager.movement_manager.MovementManager'>
        RealSenseCamera = <class 'dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/alfred_cuvslam.cpython-312.pyc'
        __doc__    = "Alfred localising from its D455 alone, with cuVSLAM instead of the lidar.\n\n    dimos run alfred-cuvslam\n\n``alfred...ing pace.\n``use_gpu`` is off because Alfred's computer has no GPU; the fork-built libcuvslam\ncarries the CPU path.\n"
        __file__   = '/home/runner/work/dimos/dimos/.../alfred/blueprints/alfred_cuvslam.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6661d53f50>
        __name__   = 'dimos.robot.diy.alfred.blueprints.alfred_cuvslam'
        __package__ = 'dimos.robot.diy.alfred.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.diy.alfred.blueprints.alfred_cuvslam', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6661d53f50>, origin='/home/runner/work/dimos/dimos/.../alfred/blueprints/alfred_cuvslam.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff67336b9e40>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev..._host='127.0.0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2025-2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    """Alfred high-level control via Portal RPC.
    
    Subscribes to ``cmd_vel`` and forwards each Twist to the Alfred controller
    as a holonomic target velocity. The controller performs the wheel-level
    kinematics on-board, so this module hands off ``(vx, vy, wz)`` rather than
    computing per-wheel speeds locally.
    
    Frame convention: Alfred uses an inverted Y-axis vs. ROS, so ``vy`` and
    ``wz`` are negated before being sent to the hardware.
    
      Standard (ROS):     Alfred:
          +Y                -Y
          ↑                  ↑
       ───┼──→ +X         ───┼──→ +X
          |                  |
    """
    
    from __future__ import annotations
    
    import asyncio
    from collections.abc import AsyncGenerator
    from typing import Any
    
    import numpy as np
>   import portal
E   ModuleNotFoundError: No module named 'portal'

Any        = typing.Any
AsyncGenerator = <class 'collections.abc.AsyncGenerator'>
__builtins__ = <builtins>
__cached__ = '.../alfred/__pycache__/effector_high_level.cpython-312.pyc'
__doc__    = 'Alfred high-level control via Portal RPC.\n\nSubscribes to ``cmd_vel`` and forwards each Twist to the Alfred controll...      +Y                -Y\n      ↑                  ↑\n   ───┼──→ +X         ───┼──→ +X\n      |                  |\n'
__file__   = '.../diy/alfred/effector_high_level.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff666120f470>
__name__   = 'dimos.robot.diy.alfred.effector_high_level'
__package__ = 'dimos.robot.diy.alfred'
__spec__   = ModuleSpec(name='dimos.robot.diy.alfred.effector_high_level', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff666120f470>, origin='.../diy/alfred/effector_high_level.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
asyncio    = <module 'asyncio' from '.../usr/lib/python3.12/asyncio/__init__.py'>
np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/numpy/__init__.py'>

.../diy/alfred/effector_high_level.py:39: ModuleNotFoundError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[alfred-cuvslam]

Stack Traces | 0.026s run time

blueprint_name = 'alfred-cuvslam'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'alfred-cuvslam'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'alfred-cuvslam'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'alfred_cuvslam'
        module_path = 'dimos.robot.diy.alfred.blueprints.alfred_cuvslam'
        name       = 'alfred-cuvslam'
.../alfred/blueprints/alfred_cuvslam.py:37: in <module>
    from dimos.robot.diy.alfred.effector_high_level import AlfredHighLevel
        CuvslamOdometry = <class 'dimos.mapping.cuvslam.cuvslam.CuvslamOdometry'>
        MovementManager = <class 'dimos.navigation.movement_manager.movement_manager.MovementManager'>
        RealSenseCamera = <class 'dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/alfred_cuvslam.cpython-312.pyc'
        __doc__    = "Alfred localising from its D455 alone, with cuVSLAM instead of the lidar.\n\n    dimos run alfred-cuvslam\n\n``alfred...ing pace.\n``use_gpu`` is off because Alfred's computer has no GPU; the fork-built libcuvslam\ncarries the CPU path.\n"
        __file__   = '/home/runner/work/dimos/dimos/.../alfred/blueprints/alfred_cuvslam.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff87178d8650>
        __name__   = 'dimos.robot.diy.alfred.blueprints.alfred_cuvslam'
        __package__ = 'dimos.robot.diy.alfred.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.diy.alfred.blueprints.alfred_cuvslam', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff87178d8650>, origin='/home/runner/work/dimos/dimos/.../alfred/blueprints/alfred_cuvslam.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff87f9549e40>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev..._host='127.0.0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2025-2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    """Alfred high-level control via Portal RPC.
    
    Subscribes to ``cmd_vel`` and forwards each Twist to the Alfred controller
    as a holonomic target velocity. The controller performs the wheel-level
    kinematics on-board, so this module hands off ``(vx, vy, wz)`` rather than
    computing per-wheel speeds locally.
    
    Frame convention: Alfred uses an inverted Y-axis vs. ROS, so ``vy`` and
    ``wz`` are negated before being sent to the hardware.
    
      Standard (ROS):     Alfred:
          +Y                -Y
          ↑                  ↑
       ───┼──→ +X         ───┼──→ +X
          |                  |
    """
    
    from __future__ import annotations
    
    import asyncio
    from collections.abc import AsyncGenerator
    from typing import Any
    
    import numpy as np
>   import portal
E   ModuleNotFoundError: No module named 'portal'

Any        = typing.Any
AsyncGenerator = <class 'collections.abc.AsyncGenerator'>
__builtins__ = <builtins>
__cached__ = '.../alfred/__pycache__/effector_high_level.cpython-312.pyc'
__doc__    = 'Alfred high-level control via Portal RPC.\n\nSubscribes to ``cmd_vel`` and forwards each Twist to the Alfred controll...      +Y                -Y\n      ↑                  ↑\n   ───┼──→ +X         ───┼──→ +X\n      |                  |\n'
__file__   = '.../diy/alfred/effector_high_level.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff8717860bc0>
__name__   = 'dimos.robot.diy.alfred.effector_high_level'
__package__ = 'dimos.robot.diy.alfred'
__spec__   = ModuleSpec(name='dimos.robot.diy.alfred.effector_high_level', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff8717860bc0>, origin='.../diy/alfred/effector_high_level.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
asyncio    = <module 'asyncio' from '.../usr/lib/python3.12/asyncio/__init__.py'>
np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/numpy/__init__.py'>

.../diy/alfred/effector_high_level.py:39: ModuleNotFoundError

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